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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
<a href="classpcl_1_1_sample_consensus_model_registration2_d-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::SampleConsensusModelRegistration2D&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html" title="SampleConsensusModelRegistration2D defines a model for Point-To-Point registration outlier rejection ...">SampleConsensusModelRegistration2D</a> defines a model for Point-To-Point registration outlier rejection using distances between 2D pixels  
 <a href="classpcl_1_1_sample_consensus_model_registration2_d.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="sac__model__registration__2d_8h_source.html">sac_model_registration_2d.h</a>&gt;</code></p>
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类 pcl::SampleConsensusModelRegistration2D&lt; PointT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1_sample_consensus_model_registration2_d.png" usemap="#pcl::SampleConsensusModelRegistration2D_3C_20PointT_20_3E_map" alt=""/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a455ae6bbd5056c7e66e71523dd5d3aa4"><td class="memItemLeft" align="right" valign="top"><a id="a455ae6bbd5056c7e66e71523dd5d3aa4"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:a455ae6bbd5056c7e66e71523dd5d3aa4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9137cc2d40d78bc840dbd7f4bc3b18bd"><td class="memItemLeft" align="right" valign="top"><a id="a9137cc2d40d78bc840dbd7f4bc3b18bd"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html">SampleConsensusModelRegistration2D</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html">SampleConsensusModelRegistration2D</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_sample_consensus_model_registration"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_sample_consensus_model_registration')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_registration.html">pcl::SampleConsensusModelRegistration&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a2a43f075aa59e71892c0b95c37a5f2f9 inherit pub_types_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top"><a id="a2a43f075aa59e71892c0b95c37a5f2f9"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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<tr class="memitem:a365ade81f0f241e15fe546d3c854d96f inherit pub_types_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top"><a id="a365ade81f0f241e15fe546d3c854d96f"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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<tr class="memitem:a8f6ff4bd69a2d3ba334bdc779e2e8a9c inherit pub_types_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top"><a id="a8f6ff4bd69a2d3ba334bdc779e2e8a9c"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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<tr class="memitem:ae6b0a63fbcf2a206fcca280c13adb562 inherit pub_types_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top"><a id="ae6b0a63fbcf2a206fcca280c13adb562"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_sample_consensus_model_registration.html">SampleConsensusModelRegistration</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a70b51e8d9f8526c1d2dc69ce68d9269e inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a70b51e8d9f8526c1d2dc69ce68d9269e"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:a8f28a92c63418a12f95d1d668d13b49f inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aef5bb60764603c6566d663d6e8575b7d inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="aef5bb60764603c6566d663d6e8575b7d"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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<tr class="memitem:ae432b503734f6bb16a0c47b6bfa8616d inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ae432b503734f6bb16a0c47b6bfa8616d"></a>
typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>SearchPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="memitem:a028b710e8a2c3b3fa62c34c1a348c575 inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a028b710e8a2c3b3fa62c34c1a348c575"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a9d88ce8430bcd87371678f8c182fad83"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a9d88ce8430bcd87371678f8c182fad83">SampleConsensusModelRegistration2D</a> (const PointCloudConstPtr &amp;cloud, bool random=false)</td></tr>
<tr class="memdesc:a9d88ce8430bcd87371678f8c182fad83"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html" title="SampleConsensusModelRegistration2D defines a model for Point-To-Point registration outlier rejection ...">SampleConsensusModelRegistration2D</a>.  <a href="classpcl_1_1_sample_consensus_model_registration2_d.html#a9d88ce8430bcd87371678f8c182fad83">更多...</a><br /></td></tr>
<tr class="separator:a9d88ce8430bcd87371678f8c182fad83"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad1fe1881077bf8b8dfefcdd6e14a674d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html#ad1fe1881077bf8b8dfefcdd6e14a674d">SampleConsensusModelRegistration2D</a> (const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</td></tr>
<tr class="memdesc:ad1fe1881077bf8b8dfefcdd6e14a674d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html" title="SampleConsensusModelRegistration2D defines a model for Point-To-Point registration outlier rejection ...">SampleConsensusModelRegistration2D</a>.  <a href="classpcl_1_1_sample_consensus_model_registration2_d.html#ad1fe1881077bf8b8dfefcdd6e14a674d">更多...</a><br /></td></tr>
<tr class="separator:ad1fe1881077bf8b8dfefcdd6e14a674d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad6de02002283ffb07766c506c59008b8"><td class="memItemLeft" align="right" valign="top"><a id="ad6de02002283ffb07766c506c59008b8"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html#ad6de02002283ffb07766c506c59008b8">~SampleConsensusModelRegistration2D</a> ()</td></tr>
<tr class="memdesc:ad6de02002283ffb07766c506c59008b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:ad6de02002283ffb07766c506c59008b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a836d1502b81dcb2956b52e293d1a39db"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a836d1502b81dcb2956b52e293d1a39db">getDistancesToModel</a> (const Eigen::VectorXf &amp;model_coefficients, std::vector&lt; double &gt; &amp;distances)</td></tr>
<tr class="memdesc:a836d1502b81dcb2956b52e293d1a39db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute all distances from the transformed points to their correspondences  <a href="classpcl_1_1_sample_consensus_model_registration2_d.html#a836d1502b81dcb2956b52e293d1a39db">更多...</a><br /></td></tr>
<tr class="separator:a836d1502b81dcb2956b52e293d1a39db"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b95c852bf16728d34790b4889478e6f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a2b95c852bf16728d34790b4889478e6f">selectWithinDistance</a> (const Eigen::VectorXf &amp;model_coefficients, const double threshold, std::vector&lt; int &gt; &amp;inliers)</td></tr>
<tr class="memdesc:a2b95c852bf16728d34790b4889478e6f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Select all the points which respect the given model coefficients as inliers.  <a href="classpcl_1_1_sample_consensus_model_registration2_d.html#a2b95c852bf16728d34790b4889478e6f">更多...</a><br /></td></tr>
<tr class="separator:a2b95c852bf16728d34790b4889478e6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5227da8c68e992583cbcee52a6363951"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a5227da8c68e992583cbcee52a6363951">countWithinDistance</a> (const Eigen::VectorXf &amp;model_coefficients, const double threshold)</td></tr>
<tr class="memdesc:a5227da8c68e992583cbcee52a6363951"><td class="mdescLeft">&#160;</td><td class="mdescRight">Count all the points which respect the given model coefficients as inliers.  <a href="classpcl_1_1_sample_consensus_model_registration2_d.html#a5227da8c68e992583cbcee52a6363951">更多...</a><br /></td></tr>
<tr class="separator:a5227da8c68e992583cbcee52a6363951"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a85a06da6f8b3cd430462833600e2cb79"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a85a06da6f8b3cd430462833600e2cb79">setProjectionMatrix</a> (const Eigen::Matrix3f &amp;projection_matrix)</td></tr>
<tr class="memdesc:a85a06da6f8b3cd430462833600e2cb79"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the camera projection matrix.  <a href="classpcl_1_1_sample_consensus_model_registration2_d.html#a85a06da6f8b3cd430462833600e2cb79">更多...</a><br /></td></tr>
<tr class="separator:a85a06da6f8b3cd430462833600e2cb79"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a901d63816b625a55f213017470de0946"><td class="memItemLeft" align="right" valign="top"><a id="a901d63816b625a55f213017470de0946"></a>
Eigen::Matrix3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a901d63816b625a55f213017470de0946">getProjectionMatrix</a> () const</td></tr>
<tr class="memdesc:a901d63816b625a55f213017470de0946"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the camera projection matrix. <br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_sample_consensus_model_registration"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_sample_consensus_model_registration')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_registration.html">pcl::SampleConsensusModelRegistration&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a74b78a4520e1a9bbf4383a6592953681 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#a74b78a4520e1a9bbf4383a6592953681">SampleConsensusModelRegistration</a> (const PointCloudConstPtr &amp;cloud, bool random=false)</td></tr>
<tr class="memdesc:a74b78a4520e1a9bbf4383a6592953681 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_registration.html" title="SampleConsensusModelRegistration defines a model for Point-To-Point registration outlier rejection.">SampleConsensusModelRegistration</a>.  <a href="classpcl_1_1_sample_consensus_model_registration.html#a74b78a4520e1a9bbf4383a6592953681">更多...</a><br /></td></tr>
<tr class="separator:a74b78a4520e1a9bbf4383a6592953681 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a843dbea7d2ecd5da26f4ba03bbefa349 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#a843dbea7d2ecd5da26f4ba03bbefa349">SampleConsensusModelRegistration</a> (const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</td></tr>
<tr class="memdesc:a843dbea7d2ecd5da26f4ba03bbefa349 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_registration.html" title="SampleConsensusModelRegistration defines a model for Point-To-Point registration outlier rejection.">SampleConsensusModelRegistration</a>.  <a href="classpcl_1_1_sample_consensus_model_registration.html#a843dbea7d2ecd5da26f4ba03bbefa349">更多...</a><br /></td></tr>
<tr class="separator:a843dbea7d2ecd5da26f4ba03bbefa349 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2eb44fa90e202d6f6baffde9075a1e6c inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top"><a id="a2eb44fa90e202d6f6baffde9075a1e6c"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#a2eb44fa90e202d6f6baffde9075a1e6c">~SampleConsensusModelRegistration</a> ()</td></tr>
<tr class="memdesc:a2eb44fa90e202d6f6baffde9075a1e6c inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a2eb44fa90e202d6f6baffde9075a1e6c inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab82a99e58a8c04e43b9f02ecbc15f8bd inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#ab82a99e58a8c04e43b9f02ecbc15f8bd">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:ab82a99e58a8c04e43b9f02ecbc15f8bd inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_sample_consensus_model_registration.html#ab82a99e58a8c04e43b9f02ecbc15f8bd">更多...</a><br /></td></tr>
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<tr class="memitem:a6dc361a7533d16c5c2964bada50e1c3a inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#a6dc361a7533d16c5c2964bada50e1c3a">setInputTarget</a> (const PointCloudConstPtr &amp;target)</td></tr>
<tr class="memdesc:a6dc361a7533d16c5c2964bada50e1c3a inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the input point cloud target.  <a href="classpcl_1_1_sample_consensus_model_registration.html#a6dc361a7533d16c5c2964bada50e1c3a">更多...</a><br /></td></tr>
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<tr class="memitem:a09f2a72ad3a3b92f1f8f7e9405aa1a8a inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#a09f2a72ad3a3b92f1f8f7e9405aa1a8a">setInputTarget</a> (const PointCloudConstPtr &amp;target, const std::vector&lt; int &gt; &amp;indices_tgt)</td></tr>
<tr class="memdesc:a09f2a72ad3a3b92f1f8f7e9405aa1a8a inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the input point cloud target.  <a href="classpcl_1_1_sample_consensus_model_registration.html#a09f2a72ad3a3b92f1f8f7e9405aa1a8a">更多...</a><br /></td></tr>
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<tr class="memitem:ad4a1df4ab4946764ff319e9cfbb1806b inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#ad4a1df4ab4946764ff319e9cfbb1806b">computeModelCoefficients</a> (const std::vector&lt; int &gt; &amp;samples, Eigen::VectorXf &amp;model_coefficients)</td></tr>
<tr class="memdesc:ad4a1df4ab4946764ff319e9cfbb1806b inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute a 4x4 rigid transformation matrix from the samples given  <a href="classpcl_1_1_sample_consensus_model_registration.html#ad4a1df4ab4946764ff319e9cfbb1806b">更多...</a><br /></td></tr>
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<tr class="memitem:a1d997826c1974e6aebfad136f7993c56 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#a1d997826c1974e6aebfad136f7993c56">optimizeModelCoefficients</a> (const std::vector&lt; int &gt; &amp;inliers, const Eigen::VectorXf &amp;model_coefficients, Eigen::VectorXf &amp;optimized_coefficients)</td></tr>
<tr class="memdesc:a1d997826c1974e6aebfad136f7993c56 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recompute the 4x4 transformation using the given inlier set  <a href="classpcl_1_1_sample_consensus_model_registration.html#a1d997826c1974e6aebfad136f7993c56">更多...</a><br /></td></tr>
<tr class="separator:a1d997826c1974e6aebfad136f7993c56 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8095d5f0dc0085a89a55dd639795c6bc inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#a8095d5f0dc0085a89a55dd639795c6bc">projectPoints</a> (const std::vector&lt; int &gt; &amp;, const Eigen::VectorXf &amp;, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;, bool=true)</td></tr>
<tr class="memdesc:a8095d5f0dc0085a89a55dd639795c6bc inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a new point cloud with inliers projected onto the model. Pure virtual.  <a href="classpcl_1_1_sample_consensus_model_registration.html#a8095d5f0dc0085a89a55dd639795c6bc">更多...</a><br /></td></tr>
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<tr class="memitem:a5e226a42afb080ffd0ea73d99ac6a333 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#a5e226a42afb080ffd0ea73d99ac6a333">doSamplesVerifyModel</a> (const std::set&lt; int &gt; &amp;, const Eigen::VectorXf &amp;, const double)</td></tr>
<tr class="memdesc:a5e226a42afb080ffd0ea73d99ac6a333 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Verify whether a subset of indices verifies a given set of model coefficients. Pure virtual.  <a href="classpcl_1_1_sample_consensus_model_registration.html#a5e226a42afb080ffd0ea73d99ac6a333">更多...</a><br /></td></tr>
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<tr class="memitem:afe6b140dc460fc6319c4452aced41120 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top"><a id="afe6b140dc460fc6319c4452aced41120"></a>
pcl::SacModel&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#afe6b140dc460fc6319c4452aced41120">getModelType</a> () const</td></tr>
<tr class="memdesc:afe6b140dc460fc6319c4452aced41120 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an unique id for this model (SACMODEL_REGISTRATION). <br /></td></tr>
<tr class="separator:afe6b140dc460fc6319c4452aced41120 inherit pub_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
<tr class="memitem:aa99d99ea0457237eca3b2f8e9a39022b inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#aa99d99ea0457237eca3b2f8e9a39022b">SampleConsensusModel</a> (const PointCloudConstPtr &amp;cloud, bool random=false)</td></tr>
<tr class="memdesc:aa99d99ea0457237eca3b2f8e9a39022b inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...">SampleConsensusModel</a>.  <a href="classpcl_1_1_sample_consensus_model.html#aa99d99ea0457237eca3b2f8e9a39022b">更多...</a><br /></td></tr>
<tr class="separator:aa99d99ea0457237eca3b2f8e9a39022b inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3fd6d364bc52a69c6aff54691975b7aa inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a3fd6d364bc52a69c6aff54691975b7aa">SampleConsensusModel</a> (const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</td></tr>
<tr class="memdesc:a3fd6d364bc52a69c6aff54691975b7aa inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...">SampleConsensusModel</a>.  <a href="classpcl_1_1_sample_consensus_model.html#a3fd6d364bc52a69c6aff54691975b7aa">更多...</a><br /></td></tr>
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<tr class="memitem:a6fd82ae7fce7b90406608b8db249acd1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a6fd82ae7fce7b90406608b8db249acd1"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a6fd82ae7fce7b90406608b8db249acd1">~SampleConsensusModel</a> ()</td></tr>
<tr class="memdesc:a6fd82ae7fce7b90406608b8db249acd1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor for base <a class="el" href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...">SampleConsensusModel</a>. <br /></td></tr>
<tr class="separator:a6fd82ae7fce7b90406608b8db249acd1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ae178816daf4f2c7af3a19d12324b77 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a2ae178816daf4f2c7af3a19d12324b77">getSamples</a> (int &amp;iterations, std::vector&lt; int &gt; &amp;samples)</td></tr>
<tr class="memdesc:a2ae178816daf4f2c7af3a19d12324b77 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a set of random data samples and return them as point indices.  <a href="classpcl_1_1_sample_consensus_model.html#a2ae178816daf4f2c7af3a19d12324b77">更多...</a><br /></td></tr>
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<tr class="memitem:a41226f6ed6de6db5ea190f265f520fc9 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a41226f6ed6de6db5ea190f265f520fc9"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a41226f6ed6de6db5ea190f265f520fc9">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a41226f6ed6de6db5ea190f265f520fc9 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a41226f6ed6de6db5ea190f265f520fc9 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d9b6652b63eacd8c0ae1fb3a3eafa25 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a4d9b6652b63eacd8c0ae1fb3a3eafa25">setIndices</a> (const boost::shared_ptr&lt; std::vector&lt; int &gt; &gt; &amp;indices)</td></tr>
<tr class="memdesc:a4d9b6652b63eacd8c0ae1fb3a3eafa25 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_sample_consensus_model.html#a4d9b6652b63eacd8c0ae1fb3a3eafa25">更多...</a><br /></td></tr>
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<tr class="memitem:a6d23c173237ca4be1451182b9a84b3ac inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a6d23c173237ca4be1451182b9a84b3ac">setIndices</a> (const std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a6d23c173237ca4be1451182b9a84b3ac inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide the vector of indices that represents the input data.  <a href="classpcl_1_1_sample_consensus_model.html#a6d23c173237ca4be1451182b9a84b3ac">更多...</a><br /></td></tr>
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<tr class="memitem:a7b59467495bbcc1e6ba1b69bbd6c4206 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a7b59467495bbcc1e6ba1b69bbd6c4206"></a>
boost::shared_ptr&lt; std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a7b59467495bbcc1e6ba1b69bbd6c4206">getIndices</a> () const</td></tr>
<tr class="memdesc:a7b59467495bbcc1e6ba1b69bbd6c4206 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:a490884cb22bfa92325111bd5be0bbe96 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a490884cb22bfa92325111bd5be0bbe96"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a490884cb22bfa92325111bd5be0bbe96">getClassName</a> () const</td></tr>
<tr class="memdesc:a490884cb22bfa92325111bd5be0bbe96 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
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<tr class="memitem:aff175b4323080fe1a3ca98a76ca4da46 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="aff175b4323080fe1a3ca98a76ca4da46"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#aff175b4323080fe1a3ca98a76ca4da46">getSampleSize</a> () const</td></tr>
<tr class="memdesc:aff175b4323080fe1a3ca98a76ca4da46 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the size of a sample from which the model is computed. <br /></td></tr>
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<tr class="memitem:a35884d269a39055c962b24d1db5fa97d inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a35884d269a39055c962b24d1db5fa97d"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a35884d269a39055c962b24d1db5fa97d">getModelSize</a> () const</td></tr>
<tr class="memdesc:a35884d269a39055c962b24d1db5fa97d inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the number of coefficients in the model. <br /></td></tr>
<tr class="separator:a35884d269a39055c962b24d1db5fa97d inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ed94271a12d7903c0bee9091e9a8f95 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a3ed94271a12d7903c0bee9091e9a8f95">setRadiusLimits</a> (const double &amp;min_radius, const double &amp;max_radius)</td></tr>
<tr class="memdesc:a3ed94271a12d7903c0bee9091e9a8f95 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius)  <a href="classpcl_1_1_sample_consensus_model.html#a3ed94271a12d7903c0bee9091e9a8f95">更多...</a><br /></td></tr>
<tr class="separator:a3ed94271a12d7903c0bee9091e9a8f95 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acff95be7097cf723a598d3b28e828487 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#acff95be7097cf723a598d3b28e828487">getRadiusLimits</a> (double &amp;min_radius, double &amp;max_radius)</td></tr>
<tr class="memdesc:acff95be7097cf723a598d3b28e828487 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum and maximum allowable radius limits for the model as set by the user.  <a href="classpcl_1_1_sample_consensus_model.html#acff95be7097cf723a598d3b28e828487">更多...</a><br /></td></tr>
<tr class="separator:acff95be7097cf723a598d3b28e828487 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9eea9dd0e12e1de8671ac542400d3f1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#af9eea9dd0e12e1de8671ac542400d3f1">setSamplesMaxDist</a> (const double &amp;radius, SearchPtr search)</td></tr>
<tr class="memdesc:af9eea9dd0e12e1de8671ac542400d3f1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum distance allowed when drawing random samples  <a href="classpcl_1_1_sample_consensus_model.html#af9eea9dd0e12e1de8671ac542400d3f1">更多...</a><br /></td></tr>
<tr class="separator:af9eea9dd0e12e1de8671ac542400d3f1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1aebacea0f2bdd7529f48f739f11c6c0 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a1aebacea0f2bdd7529f48f739f11c6c0">getSamplesMaxDist</a> (double &amp;radius)</td></tr>
<tr class="memdesc:a1aebacea0f2bdd7529f48f739f11c6c0 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get maximum distance allowed when drawing random samples  <a href="classpcl_1_1_sample_consensus_model.html#a1aebacea0f2bdd7529f48f739f11c6c0">更多...</a><br /></td></tr>
<tr class="separator:a1aebacea0f2bdd7529f48f739f11c6c0 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ac96856f60671f5d56be00a174963a8 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a2ac96856f60671f5d56be00a174963a8">computeVariance</a> (const std::vector&lt; double &gt; &amp;error_sqr_dists)</td></tr>
<tr class="memdesc:a2ac96856f60671f5d56be00a174963a8 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the variance of the errors to the model.  <a href="classpcl_1_1_sample_consensus_model.html#a2ac96856f60671f5d56be00a174963a8">更多...</a><br /></td></tr>
<tr class="separator:a2ac96856f60671f5d56be00a174963a8 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad3de5bb66de04a4f0b3bc014a0676d48 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ad3de5bb66de04a4f0b3bc014a0676d48"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ad3de5bb66de04a4f0b3bc014a0676d48">computeVariance</a> ()</td></tr>
<tr class="memdesc:ad3de5bb66de04a4f0b3bc014a0676d48 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the variance of the errors to the model from the internally estimated vector of distances. The model must be computed first (or at least selectWithinDistance must be called). <br /></td></tr>
<tr class="separator:ad3de5bb66de04a4f0b3bc014a0676d48 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:aafc250cae94170fa80f26207bb6a7fa0"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html#aafc250cae94170fa80f26207bb6a7fa0">isSampleGood</a> (const std::vector&lt; int &gt; &amp;samples) const</td></tr>
<tr class="memdesc:aafc250cae94170fa80f26207bb6a7fa0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if a sample of indices results in a good sample of points indices.  <a href="classpcl_1_1_sample_consensus_model_registration2_d.html#aafc250cae94170fa80f26207bb6a7fa0">更多...</a><br /></td></tr>
<tr class="separator:aafc250cae94170fa80f26207bb6a7fa0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc76acb0f5e32e600e486e0ebf3e90eb"><td class="memItemLeft" align="right" valign="top"><a id="abc76acb0f5e32e600e486e0ebf3e90eb"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html#abc76acb0f5e32e600e486e0ebf3e90eb">computeSampleDistanceThreshold</a> (const PointCloudConstPtr &amp;)</td></tr>
<tr class="memdesc:abc76acb0f5e32e600e486e0ebf3e90eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes an "optimal" sample distance threshold based on the principal directions of the input cloud. <br /></td></tr>
<tr class="separator:abc76acb0f5e32e600e486e0ebf3e90eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1b47aae00e682c3f4b03547610bfa93e"><td class="memItemLeft" align="right" valign="top"><a id="a1b47aae00e682c3f4b03547610bfa93e"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a1b47aae00e682c3f4b03547610bfa93e">computeSampleDistanceThreshold</a> (const PointCloudConstPtr &amp;, const std::vector&lt; int &gt; &amp;)</td></tr>
<tr class="memdesc:a1b47aae00e682c3f4b03547610bfa93e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes an "optimal" sample distance threshold based on the principal directions of the input cloud. <br /></td></tr>
<tr class="separator:a1b47aae00e682c3f4b03547610bfa93e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_sample_consensus_model_registration"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_sample_consensus_model_registration')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_registration.html">pcl::SampleConsensusModelRegistration&lt; PointT &gt;</a></td></tr>
<tr class="memitem:abe25637b4f83dd2d243fa6681a80f78d inherit pro_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#abe25637b4f83dd2d243fa6681a80f78d">computeSampleDistanceThreshold</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:abe25637b4f83dd2d243fa6681a80f78d inherit pro_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes an "optimal" sample distance threshold based on the principal directions of the input cloud.  <a href="classpcl_1_1_sample_consensus_model_registration.html#abe25637b4f83dd2d243fa6681a80f78d">更多...</a><br /></td></tr>
<tr class="separator:abe25637b4f83dd2d243fa6681a80f78d inherit pro_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2d1c53efa52c81971e0732aa207a3d6c inherit pro_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#a2d1c53efa52c81971e0732aa207a3d6c">computeSampleDistanceThreshold</a> (const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a2d1c53efa52c81971e0732aa207a3d6c inherit pro_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes an "optimal" sample distance threshold based on the principal directions of the input cloud.  <a href="classpcl_1_1_sample_consensus_model_registration.html#a2d1c53efa52c81971e0732aa207a3d6c">更多...</a><br /></td></tr>
<tr class="separator:a2d1c53efa52c81971e0732aa207a3d6c inherit pro_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac5eb30cd7315c2ee3d62b6ab589db669 inherit pro_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#ac5eb30cd7315c2ee3d62b6ab589db669">estimateRigidTransformationSVD</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Eigen::VectorXf &amp;transform)</td></tr>
<tr class="memdesc:ac5eb30cd7315c2ee3d62b6ab589db669 inherit pro_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid transformation between a source and a target point cloud using an SVD closed-form solution of absolute orientation using unit quaternions  <a href="classpcl_1_1_sample_consensus_model_registration.html#ac5eb30cd7315c2ee3d62b6ab589db669">更多...</a><br /></td></tr>
<tr class="separator:ac5eb30cd7315c2ee3d62b6ab589db669 inherit pro_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf66c5ebde25ed6aefe66e5e1af91a6e inherit pro_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top"><a id="adf66c5ebde25ed6aefe66e5e1af91a6e"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#adf66c5ebde25ed6aefe66e5e1af91a6e">computeOriginalIndexMapping</a> ()</td></tr>
<tr class="memdesc:adf66c5ebde25ed6aefe66e5e1af91a6e inherit pro_methods_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute mappings between original indices of the input_/target_ clouds. <br /></td></tr>
<tr class="separator:adf66c5ebde25ed6aefe66e5e1af91a6e inherit pro_methods_classpcl_1_1_sample_consensus_model_registration"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a910f3f0d75a6c2bf8bc4a9c43df825ce inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a910f3f0d75a6c2bf8bc4a9c43df825ce">SampleConsensusModel</a> (bool random=false)</td></tr>
<tr class="memdesc:a910f3f0d75a6c2bf8bc4a9c43df825ce inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...">SampleConsensusModel</a>.  <a href="classpcl_1_1_sample_consensus_model.html#a910f3f0d75a6c2bf8bc4a9c43df825ce">更多...</a><br /></td></tr>
<tr class="separator:a910f3f0d75a6c2bf8bc4a9c43df825ce inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f687798633c8e702568aea8d68b2bec inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a2f687798633c8e702568aea8d68b2bec">drawIndexSample</a> (std::vector&lt; int &gt; &amp;sample)</td></tr>
<tr class="memdesc:a2f687798633c8e702568aea8d68b2bec inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fills a sample array with random samples from the indices_ vector  <a href="classpcl_1_1_sample_consensus_model.html#a2f687798633c8e702568aea8d68b2bec">更多...</a><br /></td></tr>
<tr class="separator:a2f687798633c8e702568aea8d68b2bec inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a94696e418be704a4443b031ca18bc298 inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a94696e418be704a4443b031ca18bc298">drawIndexSampleRadius</a> (std::vector&lt; int &gt; &amp;sample)</td></tr>
<tr class="memdesc:a94696e418be704a4443b031ca18bc298 inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_  <a href="classpcl_1_1_sample_consensus_model.html#a94696e418be704a4443b031ca18bc298">更多...</a><br /></td></tr>
<tr class="separator:a94696e418be704a4443b031ca18bc298 inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad22a9cfdd9cf08bcf85ef1e88b62b9d2 inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ad22a9cfdd9cf08bcf85ef1e88b62b9d2">isModelValid</a> (const Eigen::VectorXf &amp;model_coefficients)</td></tr>
<tr class="memdesc:ad22a9cfdd9cf08bcf85ef1e88b62b9d2 inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check whether a model is valid given the user constraints.  <a href="classpcl_1_1_sample_consensus_model.html#ad22a9cfdd9cf08bcf85ef1e88b62b9d2">更多...</a><br /></td></tr>
<tr class="separator:ad22a9cfdd9cf08bcf85ef1e88b62b9d2 inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab8b77e6a4edb210c2ddaca923ac8470a inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ab8b77e6a4edb210c2ddaca923ac8470a"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ab8b77e6a4edb210c2ddaca923ac8470a">rnd</a> ()</td></tr>
<tr class="memdesc:ab8b77e6a4edb210c2ddaca923ac8470a inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Boost-based random number generator. <br /></td></tr>
<tr class="separator:ab8b77e6a4edb210c2ddaca923ac8470a inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a97e8c832cc69e0d14f62b885eb1db321"><td class="memItemLeft" align="right" valign="top"><a id="a97e8c832cc69e0d14f62b885eb1db321"></a>
Eigen::Matrix3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a97e8c832cc69e0d14f62b885eb1db321">projection_matrix_</a></td></tr>
<tr class="memdesc:a97e8c832cc69e0d14f62b885eb1db321"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_camera.html">Camera</a> projection matrix. <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_sample_consensus_model_registration"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_sample_consensus_model_registration')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_registration.html">pcl::SampleConsensusModelRegistration&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a4a52de400afaa6c545e46943526254da inherit pro_attribs_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top"><a id="a4a52de400afaa6c545e46943526254da"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a></td></tr>
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boost::shared_ptr&lt; std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a></td></tr>
<tr class="memdesc:adaa4d78ed81e557936b9f786bb7d719b inherit pro_attribs_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of target point indices to use. <br /></td></tr>
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<tr class="memitem:afc82c76d1880b0cfefbe9ae71e1d95f7 inherit pro_attribs_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top"><a id="afc82c76d1880b0cfefbe9ae71e1d95f7"></a>
std::map&lt; int, int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#afc82c76d1880b0cfefbe9ae71e1d95f7">correspondences_</a></td></tr>
<tr class="memdesc:afc82c76d1880b0cfefbe9ae71e1d95f7 inherit pro_attribs_classpcl_1_1_sample_consensus_model_registration"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given the index in the original point cloud, give the matching original index in the target cloud <br /></td></tr>
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<tr class="memitem:aab103a0344b6dbb2e67af3fa4e7bbfd1 inherit pro_attribs_classpcl_1_1_sample_consensus_model_registration"><td class="memItemLeft" align="right" valign="top"><a id="aab103a0344b6dbb2e67af3fa4e7bbfd1"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#aab103a0344b6dbb2e67af3fa4e7bbfd1">sample_dist_thresh_</a></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ab10fd6af7c7ab78040d4f638a572943f inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ab10fd6af7c7ab78040d4f638a572943f"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a></td></tr>
<tr class="memdesc:ab10fd6af7c7ab78040d4f638a572943f inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The model name. <br /></td></tr>
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<tr class="memitem:a7bffa6777a49f1c461ee8e0960bbec01 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a7bffa6777a49f1c461ee8e0960bbec01"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a7bffa6777a49f1c461ee8e0960bbec01">input_</a></td></tr>
<tr class="memdesc:a7bffa6777a49f1c461ee8e0960bbec01 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">A boost shared pointer to the point cloud data array. <br /></td></tr>
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<tr class="memitem:ad45adf0e36f396a908c2ba08cfdd7a41 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ad45adf0e36f396a908c2ba08cfdd7a41"></a>
boost::shared_ptr&lt; std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a></td></tr>
<tr class="memdesc:ad45adf0e36f396a908c2ba08cfdd7a41 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
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<tr class="memitem:a3e4708339fa0bc73aac513ddb1891a18 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a3e4708339fa0bc73aac513ddb1891a18"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a3e4708339fa0bc73aac513ddb1891a18">radius_min_</a></td></tr>
<tr class="memdesc:a3e4708339fa0bc73aac513ddb1891a18 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum and maximum radius limits for the model. Applicable to all models that estimate a radius. <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>radius_max_</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#aab89218101a313d2aa8adcaf6991f73b">samples_radius_</a></td></tr>
<tr class="memdesc:aab89218101a313d2aa8adcaf6991f73b inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum distance of subsequent samples from the first (radius search) <br /></td></tr>
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<tr class="memitem:a4b939f4747b5d6e12b03148a680380c3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a4b939f4747b5d6e12b03148a680380c3"></a>
SearchPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a4b939f4747b5d6e12b03148a680380c3">samples_radius_search_</a></td></tr>
<tr class="memdesc:a4b939f4747b5d6e12b03148a680380c3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search object for picking subsequent samples using radius search <br /></td></tr>
<tr class="separator:a4b939f4747b5d6e12b03148a680380c3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b8317cdaac5ccc14e822135d4e97dc1 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a9b8317cdaac5ccc14e822135d4e97dc1">shuffled_indices_</a></td></tr>
<tr class="separator:a9b8317cdaac5ccc14e822135d4e97dc1 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a73e9fb74bbe6ba122781c42913618756 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a73e9fb74bbe6ba122781c42913618756"></a>
boost::mt19937&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a73e9fb74bbe6ba122781c42913618756">rng_alg_</a></td></tr>
<tr class="memdesc:a73e9fb74bbe6ba122781c42913618756 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Boost-based random number generator algorithm. <br /></td></tr>
<tr class="separator:a73e9fb74bbe6ba122781c42913618756 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a81041dab94f5b0a5644697a12c4b9351 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a81041dab94f5b0a5644697a12c4b9351"></a>
boost::shared_ptr&lt; boost::uniform_int&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a81041dab94f5b0a5644697a12c4b9351">rng_dist_</a></td></tr>
<tr class="memdesc:a81041dab94f5b0a5644697a12c4b9351 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Boost-based random number generator distribution. <br /></td></tr>
<tr class="separator:a81041dab94f5b0a5644697a12c4b9351 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7c57e94b06912d8bbf472667ba9940db inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a7c57e94b06912d8bbf472667ba9940db"></a>
boost::shared_ptr&lt; boost::variate_generator&lt; boost::mt19937 &amp;, boost::uniform_int&lt;&gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a7c57e94b06912d8bbf472667ba9940db">rng_gen_</a></td></tr>
<tr class="memdesc:a7c57e94b06912d8bbf472667ba9940db inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Boost-based random number generator. <br /></td></tr>
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<tr class="memitem:af526982856012edcfa78ffc0fd589f97 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="af526982856012edcfa78ffc0fd589f97"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#af526982856012edcfa78ffc0fd589f97">error_sqr_dists_</a></td></tr>
<tr class="memdesc:af526982856012edcfa78ffc0fd589f97 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">A vector holding the distances to the computed model. Used internally. <br /></td></tr>
<tr class="separator:af526982856012edcfa78ffc0fd589f97 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a64854cad238a0583093c446dc295f245 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a64854cad238a0583093c446dc295f245"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a></td></tr>
<tr class="memdesc:a64854cad238a0583093c446dc295f245 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The size of a sample from which the model is computed. Every subclass should initialize this appropriately. <br /></td></tr>
<tr class="separator:a64854cad238a0583093c446dc295f245 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7f51bf1c63fcfb05694d0f19c2f7dc3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ab7f51bf1c63fcfb05694d0f19c2f7dc3"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a></td></tr>
<tr class="memdesc:ab7f51bf1c63fcfb05694d0f19c2f7dc3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of coefficients in the model. Every subclass should initialize this appropriately. <br /></td></tr>
<tr class="separator:ab7f51bf1c63fcfb05694d0f19c2f7dc3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_static_attribs_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;静态 Protected 属性 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a19d4a467b5c0cd6267e6282ac0a2cf8c inherit pro_static_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">static const unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a19d4a467b5c0cd6267e6282ac0a2cf8c">max_sample_checks_</a> = 1000</td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::SampleConsensusModelRegistration2D&lt; PointT &gt;</h3>

<p><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html" title="SampleConsensusModelRegistration2D defines a model for Point-To-Point registration outlier rejection ...">SampleConsensusModelRegistration2D</a> defines a model for Point-To-Point registration outlier rejection using distances between 2D pixels </p>
<dl class="section author"><dt>作者</dt><dd>Radu B. Rusu </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a9d88ce8430bcd87371678f8c182fad83"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9d88ce8430bcd87371678f8c182fad83">&#9670;&nbsp;</a></span>SampleConsensusModelRegistration2D() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
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      <table class="memname">
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          <td class="memname"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html">pcl::SampleConsensusModelRegistration2D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html">SampleConsensusModelRegistration2D</a> </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>random</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html" title="SampleConsensusModelRegistration2D defines a model for Point-To-Point registration outlier rejection ...">SampleConsensusModelRegistration2D</a>. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the input point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">random</td><td>if true set the random seed to the current time, else set to 12345 (default: false) </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html">pcl::SampleConsensusModelRegistration&lt;PointT&gt;</a> (cloud, random)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a97e8c832cc69e0d14f62b885eb1db321">projection_matrix_</a> (Eigen::Matrix3f::Identity ())</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="comment">// Call our own setInputCloud</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#ab82a99e58a8c04e43b9f02ecbc15f8bd">setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelRegistration2D&quot;</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 3;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 16;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_a64854cad238a0583093c446dc295f245"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">pcl::SampleConsensusModel::sample_size_</a></div><div class="ttdeci">unsigned int sample_size_</div><div class="ttdoc">The size of a sample from which the model is computed. Every subclass should initialize this appropri...</div><div class="ttdef"><b>Definition:</b> sac_model.h:572</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab10fd6af7c7ab78040d4f638a572943f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">pcl::SampleConsensusModel::model_name_</a></div><div class="ttdeci">std::string model_name_</div><div class="ttdoc">The model name.</div><div class="ttdef"><b>Definition:</b> sac_model.h:534</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab7f51bf1c63fcfb05694d0f19c2f7dc3"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">pcl::SampleConsensusModel::model_size_</a></div><div class="ttdeci">unsigned int model_size_</div><div class="ttdoc">The number of coefficients in the model. Every subclass should initialize this appropriately.</div><div class="ttdef"><b>Definition:</b> sac_model.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration2_d_html_a97e8c832cc69e0d14f62b885eb1db321"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration2_d.html#a97e8c832cc69e0d14f62b885eb1db321">pcl::SampleConsensusModelRegistration2D::projection_matrix_</a></div><div class="ttdeci">Eigen::Matrix3f projection_matrix_</div><div class="ttdoc">Camera projection matrix.</div><div class="ttdef"><b>Definition:</b> sac_model_registration_2d.h:216</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html">pcl::SampleConsensusModelRegistration</a></div><div class="ttdoc">SampleConsensusModelRegistration defines a model for Point-To-Point registration outlier rejection.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_ab82a99e58a8c04e43b9f02ecbc15f8bd"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#ab82a99e58a8c04e43b9f02ecbc15f8bd">pcl::SampleConsensusModelRegistration::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:120</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad1fe1881077bf8b8dfefcdd6e14a674d">&#9670;&nbsp;</a></span>SampleConsensusModelRegistration2D() <span class="overload">[2/2]</span></h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html">pcl::SampleConsensusModelRegistration2D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html">SampleConsensusModelRegistration2D</a> </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
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          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em>, </td>
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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>random</em> = <code>false</code>&#160;</td>
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<p>Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html" title="SampleConsensusModelRegistration2D defines a model for Point-To-Point registration outlier rejection ...">SampleConsensusModelRegistration2D</a>. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the input point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>a vector of point indices to be used from <em>cloud</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">random</td><td>if true set the random seed to the current time, else set to 12345 (default: false) </td></tr>
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<div class="fragment"><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html">pcl::SampleConsensusModelRegistration&lt;PointT&gt;</a> (cloud, indices, random)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a97e8c832cc69e0d14f62b885eb1db321">projection_matrix_</a> (Eigen::Matrix3f::Identity ())</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adf66c5ebde25ed6aefe66e5e1af91a6e">computeOriginalIndexMapping</a> ();</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model_registration2_d.html#abc76acb0f5e32e600e486e0ebf3e90eb">computeSampleDistanceThreshold</a> (cloud, indices);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelRegistration2D&quot;</span>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 3;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 16;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration2_d_html_abc76acb0f5e32e600e486e0ebf3e90eb"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration2_d.html#abc76acb0f5e32e600e486e0ebf3e90eb">pcl::SampleConsensusModelRegistration2D::computeSampleDistanceThreshold</a></div><div class="ttdeci">void computeSampleDistanceThreshold(const PointCloudConstPtr &amp;)</div><div class="ttdoc">Computes an &quot;optimal&quot; sample distance threshold based on the principal directions of the input cloud.</div><div class="ttdef"><b>Definition:</b> sac_model_registration_2d.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_adf66c5ebde25ed6aefe66e5e1af91a6e"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#adf66c5ebde25ed6aefe66e5e1af91a6e">pcl::SampleConsensusModelRegistration::computeOriginalIndexMapping</a></div><div class="ttdeci">void computeOriginalIndexMapping()</div><div class="ttdoc">Compute mappings between original indices of the input_/target_ clouds.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:309</div></div>
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<h2 class="groupheader">成员函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a5227da8c68e992583cbcee52a6363951">&#9670;&nbsp;</a></span>countWithinDistance()</h2>

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<div class="memproto">
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template&lt;typename PointT &gt; </div>
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          <td class="memname">int <a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html">pcl::SampleConsensusModelRegistration2D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::countWithinDistance </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorXf &amp;&#160;</td>
          <td class="paramname"><em>model_coefficients</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>threshold</em>&#160;</td>
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          <td></td>
          <td>)</td>
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<p>Count all the points which respect the given model coefficients as inliers. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">model_coefficients</td><td>the coefficients of a model that we need to compute distances to </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>maximum admissible distance threshold for determining the inliers from the outliers </td></tr>
  </table>
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<dl class="section return"><dt>返回</dt><dd>the resultant number of inliers </dd></dl>

<p>重载 <a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#a2e72986f3fed3615b17207af96489870">pcl::SampleConsensusModelRegistration&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;{</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size () != <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>-&gt;size ())</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelRegistration2D::countWithinDistance] Number of source indices (%lu) differs than number of target indices (%lu)!\n&quot;</span>, <a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size (), <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>-&gt;size ());</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>)</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelRegistration2D::countWithinDistance] No target dataset given!\n&quot;</span>);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keywordtype">double</span> thresh = threshold * threshold;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  Eigen::Matrix4f transform;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  transform.row (0).matrix () = model_coefficients.segment&lt;4&gt;(0);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  transform.row (1).matrix () = model_coefficients.segment&lt;4&gt;(4);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  transform.row (2).matrix () = model_coefficients.segment&lt;4&gt;(8);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  transform.row (3).matrix () = model_coefficients.segment&lt;4&gt;(12);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keywordtype">int</span> nr_p = 0; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size (); ++i)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    Eigen::Vector4f pt_src (<a class="code" href="classpcl_1_1_sample_consensus_model.html#a7bffa6777a49f1c461ee8e0960bbec01">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>)[i]].x, </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                            <a class="code" href="classpcl_1_1_sample_consensus_model.html#a7bffa6777a49f1c461ee8e0960bbec01">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>)[i]].y, </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                            <a class="code" href="classpcl_1_1_sample_consensus_model.html#a7bffa6777a49f1c461ee8e0960bbec01">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>)[i]].z, 1); </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    Eigen::Vector4f p_tr (transform * pt_src);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="comment">// Project the point on the image plane</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    Eigen::Vector3f p_tr3 (p_tr[0], p_tr[1], p_tr[2]);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    Eigen::Vector3f uv (<a class="code" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a97e8c832cc69e0d14f62b885eb1db321">projection_matrix_</a> * p_tr3);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keywordflow">if</span> (uv[2] &lt; 0)</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    uv /= uv[2];</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="comment">// Calculate the distance from the transformed point to its correspondence</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keywordflow">if</span> (((uv[0] - <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>)[i]].u) *</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;         (uv[0] - <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>)[i]].u) +</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;         (uv[1] - <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>)[i]].v) *</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;         (uv[1] - <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>)[i]].v)) &lt; thresh)</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      ++nr_p;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="keywordflow">return</span> (nr_p);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;} </div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_a7bffa6777a49f1c461ee8e0960bbec01"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#a7bffa6777a49f1c461ee8e0960bbec01">pcl::SampleConsensusModel::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">A boost shared pointer to the point cloud data array.</div><div class="ttdef"><b>Definition:</b> sac_model.h:537</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ad45adf0e36f396a908c2ba08cfdd7a41"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">pcl::SampleConsensusModel::indices_</a></div><div class="ttdeci">boost::shared_ptr&lt; std::vector&lt; int &gt; &gt; indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> sac_model.h:540</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_a4a52de400afaa6c545e46943526254da"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">pcl::SampleConsensusModelRegistration::target_</a></div><div class="ttdeci">PointCloudConstPtr target_</div><div class="ttdoc">A boost shared pointer to the target point cloud data array.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:318</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_registration_html_adaa4d78ed81e557936b9f786bb7d719b"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">pcl::SampleConsensusModelRegistration::indices_tgt_</a></div><div class="ttdeci">boost::shared_ptr&lt; std::vector&lt; int &gt; &gt; indices_tgt_</div><div class="ttdoc">A pointer to the vector of target point indices to use.</div><div class="ttdef"><b>Definition:</b> sac_model_registration.h:321</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a836d1502b81dcb2956b52e293d1a39db">&#9670;&nbsp;</a></span>getDistancesToModel()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html">pcl::SampleConsensusModelRegistration2D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getDistancesToModel </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorXf &amp;&#160;</td>
          <td class="paramname"><em>model_coefficients</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>distances</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Compute all distances from the transformed points to their correspondences </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">model_coefficients</td><td>the 4x4 transformation matrix </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">distances</td><td>the resultant estimated distances </td></tr>
  </table>
  </dd>
</dl>

<p>重载 <a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#a3d0349f226c9d12a0d3d551867265c0f">pcl::SampleConsensusModelRegistration&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;{</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  PCL_INFO (<span class="stringliteral">&quot;[pcl::SampleConsensusModelRegistration2D&lt;PointT&gt;::getDistancesToModel]\n&quot;</span>);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size () != <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>-&gt;size ())</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  {</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelRegistration2D::getDistancesToModel] Number of source indices (%lu) differs than number of target indices (%lu)!\n&quot;</span>, <a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size (), <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>-&gt;size ());</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    distances.clear ();</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelRegistration2D::getDistanceToModel] No target dataset given!\n&quot;</span>);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  distances.resize (<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size ());</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="comment">// Get the 4x4 transformation</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  Eigen::Matrix4f transform;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  transform.row (0).matrix () = model_coefficients.segment&lt;4&gt;(0);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  transform.row (1).matrix () = model_coefficients.segment&lt;4&gt;(4);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  transform.row (2).matrix () = model_coefficients.segment&lt;4&gt;(8);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  transform.row (3).matrix () = model_coefficients.segment&lt;4&gt;(12);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size (); ++i)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    Eigen::Vector4f pt_src (<a class="code" href="classpcl_1_1_sample_consensus_model.html#a7bffa6777a49f1c461ee8e0960bbec01">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>)[i]].x, </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                            <a class="code" href="classpcl_1_1_sample_consensus_model.html#a7bffa6777a49f1c461ee8e0960bbec01">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>)[i]].y, </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                            <a class="code" href="classpcl_1_1_sample_consensus_model.html#a7bffa6777a49f1c461ee8e0960bbec01">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>)[i]].z, 1); </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    Eigen::Vector4f p_tr (transform * pt_src);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="comment">// Project the point on the image plane</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    Eigen::Vector3f p_tr3 (p_tr[0], p_tr[1], p_tr[2]);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    Eigen::Vector3f uv (<a class="code" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a97e8c832cc69e0d14f62b885eb1db321">projection_matrix_</a> * p_tr3);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordflow">if</span> (uv[2] &lt; 0)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    uv /= uv[2];</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="comment">// Calculate the distance from the transformed point to its correspondence</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="comment">// need to compute the real norm here to keep MSAC and friends general</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    distances[i] = std::sqrt ((uv[0] - <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>)[i]].u) *</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                              (uv[0] - <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>)[i]].u) +</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                              (uv[1] - <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>)[i]].v) *</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                              (uv[1] - <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>)[i]].v));</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aafc250cae94170fa80f26207bb6a7fa0">&#9670;&nbsp;</a></span>isSampleGood()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html">pcl::SampleConsensusModelRegistration2D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::isSampleGood </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>samples</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Check if a sample of indices results in a good sample of points indices. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">samples</td><td>the resultant index samples </td></tr>
  </table>
  </dd>
</dl>

<p>重载 <a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#a49852311cb0ea429988358e556d42536">pcl::SampleConsensusModelRegistration&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="comment">//using namespace pcl::common;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="comment">//using namespace pcl::traits;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">//PointT p10 = input_-&gt;points[samples[1]] - input_-&gt;points[samples[0]];</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="comment">//PointT p20 = input_-&gt;points[samples[2]] - input_-&gt;points[samples[0]];</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">//PointT p21 = input_-&gt;points[samples[2]] - input_-&gt;points[samples[1]];</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="comment">//return ((p10.x * p10.x + p10.y * p10.y + p10.z * p10.z) &gt; sample_dist_thresh_ &amp;&amp; </span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="comment">//        (p20.x * p20.x + p20.y * p20.y + p20.z * p20.z) &gt; sample_dist_thresh_ &amp;&amp; </span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">//        (p21.x * p21.x + p21.y * p21.y + p21.z * p21.z) &gt; sample_dist_thresh_);</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2b95c852bf16728d34790b4889478e6f">&#9670;&nbsp;</a></span>selectWithinDistance()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html">pcl::SampleConsensusModelRegistration2D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::selectWithinDistance </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorXf &amp;&#160;</td>
          <td class="paramname"><em>model_coefficients</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>threshold</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>inliers</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Select all the points which respect the given model coefficients as inliers. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">model_coefficients</td><td>the 4x4 transformation matrix </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>a maximum admissible distance threshold for determining the inliers from the outliers </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">inliers</td><td>the resultant model inliers </td></tr>
  </table>
  </dd>
</dl>

<p>重载 <a class="el" href="classpcl_1_1_sample_consensus_model_registration.html#aa66bc2c98e212c75e55d50fb330dccfd">pcl::SampleConsensusModelRegistration&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;{</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size () != <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>-&gt;size ())</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelRegistration2D::selectWithinDistance] Number of source indices (%lu) differs than number of target indices (%lu)!\n&quot;</span>, <a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size (), <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>-&gt;size ());</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    inliers.clear ();</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelRegistration2D::selectWithinDistance] No target dataset given!\n&quot;</span>);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordtype">double</span> thresh = threshold * threshold;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordtype">int</span> nr_p = 0;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  inliers.resize (<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size ());</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <a class="code" href="classpcl_1_1_sample_consensus_model.html#af526982856012edcfa78ffc0fd589f97">error_sqr_dists_</a>.resize (<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size ());</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  Eigen::Matrix4f transform;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  transform.row (0).matrix () = model_coefficients.segment&lt;4&gt;(0);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  transform.row (1).matrix () = model_coefficients.segment&lt;4&gt;(4);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  transform.row (2).matrix () = model_coefficients.segment&lt;4&gt;(8);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  transform.row (3).matrix () = model_coefficients.segment&lt;4&gt;(12);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>-&gt;size (); ++i)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    Eigen::Vector4f pt_src (<a class="code" href="classpcl_1_1_sample_consensus_model.html#a7bffa6777a49f1c461ee8e0960bbec01">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>)[i]].x, </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                            <a class="code" href="classpcl_1_1_sample_consensus_model.html#a7bffa6777a49f1c461ee8e0960bbec01">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>)[i]].y, </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                            <a class="code" href="classpcl_1_1_sample_consensus_model.html#a7bffa6777a49f1c461ee8e0960bbec01">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a>)[i]].z, 1); </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    Eigen::Vector4f p_tr (transform * pt_src);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="comment">// Project the point on the image plane</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    Eigen::Vector3f p_tr3 (p_tr[0], p_tr[1], p_tr[2]);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    Eigen::Vector3f uv (<a class="code" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a97e8c832cc69e0d14f62b885eb1db321">projection_matrix_</a> * p_tr3);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">if</span> (uv[2] &lt; 0)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    uv /= uv[2];</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordtype">double</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = ((uv[0] - <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>-&gt;points[(*indices_tgt_)[i]].u) *</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                       (uv[0] - <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>)[i]].u) +</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                       (uv[1] - <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>)[i]].v) *</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                       (uv[1] - <a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#a4a52de400afaa6c545e46943526254da">target_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_sample_consensus_model_registration.html#adaa4d78ed81e557936b9f786bb7d719b">indices_tgt_</a>)[i]].v));</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="comment">// Calculate the distance from the transformed point to its correspondence</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordflow">if</span> (distance &lt; thresh)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    {</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      inliers[nr_p] = (*indices_)[i];</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model.html#af526982856012edcfa78ffc0fd589f97">error_sqr_dists_</a>[nr_p] = <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      ++nr_p;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  inliers.resize (nr_p);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <a class="code" href="classpcl_1_1_sample_consensus_model.html#af526982856012edcfa78ffc0fd589f97">error_sqr_dists_</a>.resize (nr_p);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;} </div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_af526982856012edcfa78ffc0fd589f97"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#af526982856012edcfa78ffc0fd589f97">pcl::SampleConsensusModel::error_sqr_dists_</a></div><div class="ttdeci">std::vector&lt; double &gt; error_sqr_dists_</div><div class="ttdoc">A vector holding the distances to the computed model. Used internally.</div><div class="ttdef"><b>Definition:</b> sac_model.h:569</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2geometry_8h_html_a2fc89f0c26b7c7377fcd2851fa933b87"><div class="ttname"><a href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">pcl::geometry::distance</a></div><div class="ttdeci">float distance(const PointT &amp;p1, const PointT &amp;p2)</div><div class="ttdef"><b>Definition:</b> geometry.h:60</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a85a06da6f8b3cd430462833600e2cb79">&#9670;&nbsp;</a></span>setProjectionMatrix()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_sample_consensus_model_registration2_d.html">pcl::SampleConsensusModelRegistration2D</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setProjectionMatrix </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Matrix3f &amp;&#160;</td>
          <td class="paramname"><em>projection_matrix</em></td><td>)</td>
          <td></td>
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<p>Set the camera projection matrix. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">projection_matrix</td><td>the camera projection matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      { <a class="code" href="classpcl_1_1_sample_consensus_model_registration2_d.html#a97e8c832cc69e0d14f62b885eb1db321">projection_matrix_</a> = projection_matrix; }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>sample_consensus/include/pcl/sample_consensus/<a class="el" href="sac__model__registration__2d_8h_source.html">sac_model_registration_2d.h</a></li>
<li>sample_consensus/include/pcl/sample_consensus/impl/<a class="el" href="sac__model__registration__2d_8hpp_source.html">sac_model_registration_2d.hpp</a></li>
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